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1 | #include <avr/io.h> |
1 | #include <avr/io.h> |
2 | #include <avr/interrupt.h> |
2 | #include <avr/interrupt.h> |
3 | #include <avr/pgmspace.h> |
3 | #include <avr/pgmspace.h> |
4 | 4 | ||
5 | #include "analog.h" |
5 | #include "analog.h" |
6 | #include "attitude.h" |
6 | #include "attitude.h" |
7 | #include "sensors.h" |
7 | #include "sensors.h" |
8 | #include "printf_P.h" |
8 | #include "printf_P.h" |
9 | #include "mk3mag.h" |
9 | #include "mk3mag.h" |
10 | 10 | ||
11 | // for Delay functions |
11 | // for Delay functions |
12 | #include "timer0.h" |
12 | #include "timer0.h" |
13 | 13 | ||
14 | // For reading and writing acc. meter offsets. |
14 | // For reading and writing acc. meter offsets. |
15 | #include "eeprom.h" |
15 | #include "eeprom.h" |
16 | 16 | ||
17 | // For debugOut |
17 | // For debugOut |
18 | #include "output.h" |
18 | #include "output.h" |
19 | 19 | ||
20 | // set ADC enable & ADC Start Conversion & ADC Interrupt Enable bit |
20 | // set ADC enable & ADC Start Conversion & ADC Interrupt Enable bit |
21 | #define startADC() (ADCSRA |= (1<<ADEN)|(1<<ADSC)|(1<<ADIE)) |
21 | #define startADC() (ADCSRA |= (1<<ADEN)|(1<<ADSC)|(1<<ADIE)) |
22 | 22 | ||
23 | const char* recal = ", recalibration needed."; |
23 | const char* recal = ", recalibration needed."; |
24 | 24 | ||
25 | /* |
25 | /* |
26 | * For each A/D conversion cycle, each analog channel is sampled a number of times |
26 | * For each A/D conversion cycle, each analog channel is sampled a number of times |
27 | * (see array channelsForStates), and the results for each channel are summed. |
27 | * (see array channelsForStates), and the results for each channel are summed. |
28 | * Here are those for the gyros and the acc. meters. They are not zero-offset. |
28 | * Here are those for the gyros and the acc. meters. They are not zero-offset. |
29 | * They are exported in the analog.h file - but please do not use them! The only |
29 | * They are exported in the analog.h file - but please do not use them! The only |
30 | * reason for the export is that the ENC-03_FC1.3 modules needs them for calibrating |
30 | * reason for the export is that the ENC-03_FC1.3 modules needs them for calibrating |
31 | * the offsets with the DAC. |
31 | * the offsets with the DAC. |
32 | */ |
32 | */ |
33 | volatile uint16_t sensorInputs[8]; |
33 | volatile uint16_t sensorInputs[8]; |
34 | int16_t acc[3]; |
34 | int16_t acc[3]; |
35 | int16_t filteredAcc[3] = { 0,0,0 }; |
35 | int16_t filteredAcc[3] = { 0,0,0 }; |
36 | 36 | ||
37 | /* |
37 | /* |
38 | * These 4 exported variables are zero-offset. The "PID" ones are used |
38 | * These 4 exported variables are zero-offset. The "PID" ones are used |
39 | * in the attitude control as rotation rates. The "ATT" ones are for |
39 | * in the attitude control as rotation rates. The "ATT" ones are for |
40 | * integration to angles. |
40 | * integration to angles. |
41 | */ |
41 | */ |
42 | int16_t gyro_PID[2]; |
42 | int16_t gyro_PID[2]; |
43 | int16_t gyro_ATT[2]; |
43 | int16_t gyro_ATT[2]; |
44 | int16_t gyroD[2]; |
44 | int16_t gyroD[2]; |
- | 45 | int16_t gyroDWindow[2][GYRO_D_WINDOW_LENGTH]; |
|
- | 46 | uint8_t gyroDWindowIdx = 0; |
|
45 | int16_t yawGyro; |
47 | int16_t yawGyro; |
46 | int16_t magneticHeading; |
48 | int16_t magneticHeading; |
47 | 49 | ||
48 | int32_t groundPressure; |
50 | int32_t groundPressure; |
- | 51 | int16_t dHeight; |
|
49 | 52 | ||
50 | /* |
53 | /* |
51 | * Offset values. These are the raw gyro and acc. meter sums when the copter is |
54 | * Offset values. These are the raw gyro and acc. meter sums when the copter is |
52 | * standing still. They are used for adjusting the gyro and acc. meter values |
55 | * standing still. They are used for adjusting the gyro and acc. meter values |
53 | * to be centered on zero. |
56 | * to be centered on zero. |
54 | */ |
57 | */ |
55 | 58 | ||
56 | sensorOffset_t gyroOffset; |
59 | sensorOffset_t gyroOffset; |
57 | sensorOffset_t accOffset; |
60 | sensorOffset_t accOffset; |
58 | sensorOffset_t gyroAmplifierOffset; |
61 | sensorOffset_t gyroAmplifierOffset; |
59 | 62 | ||
60 | /* |
63 | /* |
61 | * In the MK coordinate system, nose-down is positive and left-roll is positive. |
64 | * In the MK coordinate system, nose-down is positive and left-roll is positive. |
62 | * If a sensor is used in an orientation where one but not both of the axes has |
65 | * If a sensor is used in an orientation where one but not both of the axes has |
63 | * an opposite sign, PR_ORIENTATION_REVERSED is set to 1 (true). |
66 | * an opposite sign, PR_ORIENTATION_REVERSED is set to 1 (true). |
64 | * Transform: |
67 | * Transform: |
65 | * pitch <- pp*pitch + pr*roll |
68 | * pitch <- pp*pitch + pr*roll |
66 | * roll <- rp*pitch + rr*roll |
69 | * roll <- rp*pitch + rr*roll |
67 | * Not reversed, GYRO_QUADRANT: |
70 | * Not reversed, GYRO_QUADRANT: |
68 | * 0: pp=1, pr=0, rp=0, rr=1 // 0 degrees |
71 | * 0: pp=1, pr=0, rp=0, rr=1 // 0 degrees |
69 | * 1: pp=1, pr=-1,rp=1, rr=1 // +45 degrees |
72 | * 1: pp=1, pr=-1,rp=1, rr=1 // +45 degrees |
70 | * 2: pp=0, pr=-1,rp=1, rr=0 // +90 degrees |
73 | * 2: pp=0, pr=-1,rp=1, rr=0 // +90 degrees |
71 | * 3: pp=-1,pr=-1,rp=1, rr=1 // +135 degrees |
74 | * 3: pp=-1,pr=-1,rp=1, rr=1 // +135 degrees |
72 | * 4: pp=-1,pr=0, rp=0, rr=-1 // +180 degrees |
75 | * 4: pp=-1,pr=0, rp=0, rr=-1 // +180 degrees |
73 | * 5: pp=-1,pr=1, rp=-1,rr=-1 // +225 degrees |
76 | * 5: pp=-1,pr=1, rp=-1,rr=-1 // +225 degrees |
74 | * 6: pp=0, pr=1, rp=-1,rr=0 // +270 degrees |
77 | * 6: pp=0, pr=1, rp=-1,rr=0 // +270 degrees |
75 | * 7: pp=1, pr=1, rp=-1,rr=1 // +315 degrees |
78 | * 7: pp=1, pr=1, rp=-1,rr=1 // +315 degrees |
76 | * Reversed, GYRO_QUADRANT: |
79 | * Reversed, GYRO_QUADRANT: |
77 | * 0: pp=-1,pr=0, rp=0, rr=1 // 0 degrees with pitch reversed |
80 | * 0: pp=-1,pr=0, rp=0, rr=1 // 0 degrees with pitch reversed |
78 | * 1: pp=-1,pr=-1,rp=-1,rr=1 // +45 degrees with pitch reversed |
81 | * 1: pp=-1,pr=-1,rp=-1,rr=1 // +45 degrees with pitch reversed |
79 | * 2: pp=0, pr=-1,rp=-1,rr=0 // +90 degrees with pitch reversed |
82 | * 2: pp=0, pr=-1,rp=-1,rr=0 // +90 degrees with pitch reversed |
80 | * 3: pp=1, pr=-1,rp=-1,rr=1 // +135 degrees with pitch reversed |
83 | * 3: pp=1, pr=-1,rp=-1,rr=1 // +135 degrees with pitch reversed |
81 | * 4: pp=1, pr=0, rp=0, rr=-1 // +180 degrees with pitch reversed |
84 | * 4: pp=1, pr=0, rp=0, rr=-1 // +180 degrees with pitch reversed |
82 | * 5: pp=1, pr=1, rp=1, rr=-1 // +225 degrees with pitch reversed |
85 | * 5: pp=1, pr=1, rp=1, rr=-1 // +225 degrees with pitch reversed |
83 | * 6: pp=0, pr=1, rp=1, rr=0 // +270 degrees with pitch reversed |
86 | * 6: pp=0, pr=1, rp=1, rr=0 // +270 degrees with pitch reversed |
84 | * 7: pp=-1,pr=1, rp=1, rr=1 // +315 degrees with pitch reversed |
87 | * 7: pp=-1,pr=1, rp=1, rr=1 // +315 degrees with pitch reversed |
85 | */ |
88 | */ |
86 | 89 | ||
87 | void rotate(int16_t* result, uint8_t quadrant, uint8_t reverse) { |
90 | void rotate(int16_t* result, uint8_t quadrant, uint8_t reverse) { |
88 | static const int8_t rotationTab[] = {1,1,0,-1,-1,-1,0,1}; |
91 | static const int8_t rotationTab[] = {1,1,0,-1,-1,-1,0,1}; |
89 | // Pitch to Pitch part |
92 | // Pitch to Pitch part |
90 | int8_t xx = reverse ? rotationTab[(quadrant+4)%8] : rotationTab[quadrant]; |
93 | int8_t xx = reverse ? rotationTab[(quadrant+4)%8] : rotationTab[quadrant]; |
91 | // Roll to Pitch part |
94 | // Roll to Pitch part |
92 | int8_t xy = rotationTab[(quadrant+2)%8]; |
95 | int8_t xy = rotationTab[(quadrant+2)%8]; |
93 | // Pitch to Roll part |
96 | // Pitch to Roll part |
94 | int8_t yx = reverse ? rotationTab[(quadrant+2)%8] : rotationTab[(quadrant+6)%8]; |
97 | int8_t yx = reverse ? rotationTab[(quadrant+2)%8] : rotationTab[(quadrant+6)%8]; |
95 | // Roll to Roll part |
98 | // Roll to Roll part |
96 | int8_t yy = rotationTab[quadrant]; |
99 | int8_t yy = rotationTab[quadrant]; |
97 | 100 | ||
98 | int16_t xIn = result[0]; |
101 | int16_t xIn = result[0]; |
99 | result[0] = xx*xIn + xy*result[1]; |
102 | result[0] = xx*xIn + xy*result[1]; |
100 | result[1] = yx*xIn + yy*result[1]; |
103 | result[1] = yx*xIn + yy*result[1]; |
101 | 104 | ||
102 | if (quadrant & 1) { |
105 | if (quadrant & 1) { |
103 | // A rotation was used above, where the factors were too large by sqrt(2). |
106 | // A rotation was used above, where the factors were too large by sqrt(2). |
104 | // So, we multiply by 2^n/sqt(2) and right shift n bits, as to divide by sqrt(2). |
107 | // So, we multiply by 2^n/sqt(2) and right shift n bits, as to divide by sqrt(2). |
105 | // A suitable value for n: Sample is 11 bits. After transformation it is the sum |
108 | // A suitable value for n: Sample is 11 bits. After transformation it is the sum |
106 | // of 2 11 bit numbers, so 12 bits. We have 4 bits left... |
109 | // of 2 11 bit numbers, so 12 bits. We have 4 bits left... |
107 | result[0] = (result[0]*11) >> 4; |
110 | result[0] = (result[0]*11) >> 4; |
108 | result[1] = (result[1]*11) >> 4; |
111 | result[1] = (result[1]*11) >> 4; |
109 | } |
112 | } |
110 | } |
113 | } |
111 | 114 | ||
112 | /* |
115 | /* |
113 | * Air pressure |
116 | * Air pressure |
114 | */ |
117 | */ |
115 | volatile uint8_t rangewidth = 105; |
118 | volatile uint8_t rangewidth = 105; |
116 | 119 | ||
117 | // Direct from sensor, irrespective of range. |
120 | // Direct from sensor, irrespective of range. |
118 | // volatile uint16_t rawAirPressure; |
121 | // volatile uint16_t rawAirPressure; |
119 | 122 | ||
120 | // Value of 2 samples, with range. |
123 | // Value of 2 samples, with range. |
121 | uint16_t simpleAirPressure; |
124 | uint16_t simpleAirPressure; |
122 | 125 | ||
123 | // Value of AIRPRESSURE_OVERSAMPLING samples, with range, filtered. |
126 | // Value of AIRPRESSURE_OVERSAMPLING samples, with range, filtered. |
124 | int32_t filteredAirPressure; |
127 | int32_t filteredAirPressure; |
125 | 128 | ||
126 | #define MAX_D_AIRPRESSURE_WINDOW_LENGTH 32 |
129 | #define MAX_D_AIRPRESSURE_WINDOW_LENGTH 32 |
127 | //int32_t lastFilteredAirPressure; |
130 | //int32_t lastFilteredAirPressure; |
128 | int16_t dAirPressureWindow[MAX_D_AIRPRESSURE_WINDOW_LENGTH]; |
131 | int16_t dAirPressureWindow[MAX_D_AIRPRESSURE_WINDOW_LENGTH]; |
129 | uint8_t dWindowPtr = 0; |
132 | uint8_t dWindowPtr = 0; |
130 | 133 | ||
131 | #define MAX_AIRPRESSURE_WINDOW_LENGTH 32 |
134 | #define MAX_AIRPRESSURE_WINDOW_LENGTH 32 |
132 | int16_t airPressureWindow[MAX_AIRPRESSURE_WINDOW_LENGTH]; |
135 | int16_t airPressureWindow[MAX_AIRPRESSURE_WINDOW_LENGTH]; |
133 | int32_t windowedAirPressure; |
136 | int32_t windowedAirPressure; |
134 | uint8_t windowPtr = 0; |
137 | uint8_t windowPtr = 0; |
135 | 138 | ||
136 | // Partial sum of AIRPRESSURE_SUMMATION_FACTOR samples. |
139 | // Partial sum of AIRPRESSURE_SUMMATION_FACTOR samples. |
137 | int32_t airPressureSum; |
140 | int32_t airPressureSum; |
138 | 141 | ||
139 | // The number of samples summed into airPressureSum so far. |
142 | // The number of samples summed into airPressureSum so far. |
140 | uint8_t pressureMeasurementCount; |
143 | uint8_t pressureMeasurementCount; |
141 | 144 | ||
142 | /* |
145 | /* |
143 | * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt. |
146 | * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt. |
144 | * That is divided by 3 below, for a final 10.34 per volt. |
147 | * That is divided by 3 below, for a final 10.34 per volt. |
145 | * So the initial value of 100 is for 9.7 volts. |
148 | * So the initial value of 100 is for 9.7 volts. |
146 | */ |
149 | */ |
147 | int16_t UBat = 100; |
150 | int16_t UBat = 100; |
148 | 151 | ||
149 | /* |
152 | /* |
150 | * Control and status. |
153 | * Control and status. |
151 | */ |
154 | */ |
152 | volatile uint16_t ADCycleCount = 0; |
155 | volatile uint16_t ADCycleCount = 0; |
153 | volatile uint8_t analogDataReady = 1; |
156 | volatile uint8_t analogDataReady = 1; |
154 | 157 | ||
155 | /* |
158 | /* |
156 | * Experiment: Measuring vibration-induced sensor noise. |
159 | * Experiment: Measuring vibration-induced sensor noise. |
157 | */ |
160 | */ |
158 | uint16_t gyroNoisePeak[3]; |
161 | uint16_t gyroNoisePeak[3]; |
159 | uint16_t accNoisePeak[3]; |
162 | uint16_t accNoisePeak[3]; |
160 | 163 | ||
161 | volatile uint8_t adState; |
164 | volatile uint8_t adState; |
162 | volatile uint8_t adChannel; |
165 | volatile uint8_t adChannel; |
163 | 166 | ||
164 | // ADC channels |
167 | // ADC channels |
165 | #define AD_GYRO_YAW 0 |
168 | #define AD_GYRO_YAW 0 |
166 | #define AD_GYRO_ROLL 1 |
169 | #define AD_GYRO_ROLL 1 |
167 | #define AD_GYRO_PITCH 2 |
170 | #define AD_GYRO_PITCH 2 |
168 | #define AD_AIRPRESSURE 3 |
171 | #define AD_AIRPRESSURE 3 |
169 | #define AD_UBAT 4 |
172 | #define AD_UBAT 4 |
170 | #define AD_ACC_Z 5 |
173 | #define AD_ACC_Z 5 |
171 | #define AD_ACC_ROLL 6 |
174 | #define AD_ACC_ROLL 6 |
172 | #define AD_ACC_PITCH 7 |
175 | #define AD_ACC_PITCH 7 |
173 | 176 | ||
174 | /* |
177 | /* |
175 | * Table of AD converter inputs for each state. |
178 | * Table of AD converter inputs for each state. |
176 | * The number of samples summed for each channel is equal to |
179 | * The number of samples summed for each channel is equal to |
177 | * the number of times the channel appears in the array. |
180 | * the number of times the channel appears in the array. |
178 | * The max. number of samples that can be taken in 2 ms is: |
181 | * The max. number of samples that can be taken in 2 ms is: |
179 | * 20e6 / 128 / 13 / (1/2e-3) = 24. Since the main control |
182 | * 20e6 / 128 / 13 / (1/2e-3) = 24. Since the main control |
180 | * loop needs a little time between reading AD values and |
183 | * loop needs a little time between reading AD values and |
181 | * re-enabling ADC, the real limit is (how much?) lower. |
184 | * re-enabling ADC, the real limit is (how much?) lower. |
182 | * The acc. sensor is sampled even if not used - or installed |
185 | * The acc. sensor is sampled even if not used - or installed |
183 | * at all. The cost is not significant. |
186 | * at all. The cost is not significant. |
184 | */ |
187 | */ |
185 | 188 | ||
186 | const uint8_t channelsForStates[] PROGMEM = { |
189 | const uint8_t channelsForStates[] PROGMEM = { |
187 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, |
190 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, |
188 | AD_ACC_PITCH, AD_ACC_ROLL, AD_AIRPRESSURE, |
191 | AD_ACC_PITCH, AD_ACC_ROLL, AD_AIRPRESSURE, |
189 | 192 | ||
190 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_ACC_Z, // at 8, measure Z acc. |
193 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_ACC_Z, // at 8, measure Z acc. |
191 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, // at 11, finish yaw gyro |
194 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, // at 11, finish yaw gyro |
192 | 195 | ||
193 | AD_ACC_PITCH, // at 12, finish pitch axis acc. |
196 | AD_ACC_PITCH, // at 12, finish pitch axis acc. |
194 | AD_ACC_ROLL, // at 13, finish roll axis acc. |
197 | AD_ACC_ROLL, // at 13, finish roll axis acc. |
195 | AD_AIRPRESSURE, // at 14, finish air pressure. |
198 | AD_AIRPRESSURE, // at 14, finish air pressure. |
196 | 199 | ||
197 | AD_GYRO_PITCH, // at 15, finish pitch gyro |
200 | AD_GYRO_PITCH, // at 15, finish pitch gyro |
198 | AD_GYRO_ROLL, // at 16, finish roll gyro |
201 | AD_GYRO_ROLL, // at 16, finish roll gyro |
199 | AD_UBAT // at 17, measure battery. |
202 | AD_UBAT // at 17, measure battery. |
200 | }; |
203 | }; |
201 | 204 | ||
202 | // Feature removed. Could be reintroduced later - but should work for all gyro types then. |
205 | // Feature removed. Could be reintroduced later - but should work for all gyro types then. |
203 | // uint8_t GyroDefectPitch = 0, GyroDefectRoll = 0, GyroDefectYaw = 0; |
206 | // uint8_t GyroDefectPitch = 0, GyroDefectRoll = 0, GyroDefectYaw = 0; |
204 | 207 | ||
205 | void analog_init(void) { |
208 | void analog_init(void) { |
206 | uint8_t sreg = SREG; |
209 | uint8_t sreg = SREG; |
207 | // disable all interrupts before reconfiguration |
210 | // disable all interrupts before reconfiguration |
208 | cli(); |
211 | cli(); |
209 | 212 | ||
210 | //ADC0 ... ADC7 is connected to PortA pin 0 ... 7 |
213 | //ADC0 ... ADC7 is connected to PortA pin 0 ... 7 |
211 | DDRA = 0x00; |
214 | DDRA = 0x00; |
212 | PORTA = 0x00; |
215 | PORTA = 0x00; |
213 | // Digital Input Disable Register 0 |
216 | // Digital Input Disable Register 0 |
214 | // Disable digital input buffer for analog adc_channel pins |
217 | // Disable digital input buffer for analog adc_channel pins |
215 | DIDR0 = 0xFF; |
218 | DIDR0 = 0xFF; |
216 | // external reference, adjust data to the right |
219 | // external reference, adjust data to the right |
217 | ADMUX &= ~((1<<REFS1)|(1<<REFS0)|(1<<ADLAR)); |
220 | ADMUX &= ~((1<<REFS1)|(1<<REFS0)|(1<<ADLAR)); |
218 | // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
221 | // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
219 | ADMUX = (ADMUX & 0xE0); |
222 | ADMUX = (ADMUX & 0xE0); |
220 | //Set ADC Control and Status Register A |
223 | //Set ADC Control and Status Register A |
221 | //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
224 | //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
222 | ADCSRA = (1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0); |
225 | ADCSRA = (1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0); |
223 | //Set ADC Control and Status Register B |
226 | //Set ADC Control and Status Register B |
224 | //Trigger Source to Free Running Mode |
227 | //Trigger Source to Free Running Mode |
225 | ADCSRB &= ~((1<<ADTS2)|(1<<ADTS1)|(1<<ADTS0)); |
228 | ADCSRB &= ~((1<<ADTS2)|(1<<ADTS1)|(1<<ADTS0)); |
226 | 229 | ||
227 | for (uint8_t i=0; i<MAX_AIRPRESSURE_WINDOW_LENGTH; i++) { |
230 | for (uint8_t i=0; i<MAX_AIRPRESSURE_WINDOW_LENGTH; i++) { |
228 | airPressureWindow[i] = 0; |
231 | airPressureWindow[i] = 0; |
229 | } |
232 | } |
230 | windowedAirPressure = 0; |
233 | windowedAirPressure = 0; |
231 | 234 | ||
232 | startAnalogConversionCycle(); |
235 | startAnalogConversionCycle(); |
233 | 236 | ||
234 | // restore global interrupt flags |
237 | // restore global interrupt flags |
235 | SREG = sreg; |
238 | SREG = sreg; |
236 | } |
239 | } |
237 | 240 | ||
238 | uint16_t rawGyroValue(uint8_t axis) { |
241 | uint16_t rawGyroValue(uint8_t axis) { |
239 | return sensorInputs[AD_GYRO_PITCH-axis]; |
242 | return sensorInputs[AD_GYRO_PITCH-axis]; |
240 | } |
243 | } |
241 | 244 | ||
242 | uint16_t rawAccValue(uint8_t axis) { |
245 | uint16_t rawAccValue(uint8_t axis) { |
243 | return sensorInputs[AD_ACC_PITCH-axis]; |
246 | return sensorInputs[AD_ACC_PITCH-axis]; |
244 | } |
247 | } |
245 | 248 | ||
246 | void measureNoise(const int16_t sensor, |
249 | void measureNoise(const int16_t sensor, |
247 | volatile uint16_t* const noiseMeasurement, const uint8_t damping) { |
250 | volatile uint16_t* const noiseMeasurement, const uint8_t damping) { |
248 | if (sensor > (int16_t) (*noiseMeasurement)) { |
251 | if (sensor > (int16_t) (*noiseMeasurement)) { |
249 | *noiseMeasurement = sensor; |
252 | *noiseMeasurement = sensor; |
250 | } else if (-sensor > (int16_t) (*noiseMeasurement)) { |
253 | } else if (-sensor > (int16_t) (*noiseMeasurement)) { |
251 | *noiseMeasurement = -sensor; |
254 | *noiseMeasurement = -sensor; |
252 | } else if (*noiseMeasurement > damping) { |
255 | } else if (*noiseMeasurement > damping) { |
253 | *noiseMeasurement -= damping; |
256 | *noiseMeasurement -= damping; |
254 | } else { |
257 | } else { |
255 | *noiseMeasurement = 0; |
258 | *noiseMeasurement = 0; |
256 | } |
259 | } |
257 | } |
260 | } |
258 | 261 | ||
259 | /* |
262 | /* |
260 | * Min.: 0 |
263 | * Min.: 0 |
261 | * Max: About 106 * 240 + 2047 = 27487; it is OK with just a 16 bit type. |
264 | * Max: About 106 * 240 + 2047 = 27487; it is OK with just a 16 bit type. |
262 | */ |
265 | */ |
263 | uint16_t getSimplePressure(int advalue) { |
266 | uint16_t getSimplePressure(int advalue) { |
264 | uint16_t result = (uint16_t) OCR0A * (uint16_t) rangewidth + advalue; |
267 | uint16_t result = (uint16_t) OCR0A * (uint16_t) rangewidth + advalue; |
265 | result += (acc[Z] * (staticParams.airpressureAccZCorrection-128)) >> 10; |
268 | result += (acc[Z] * (staticParams.airpressureAccZCorrection-128)) >> 10; |
266 | return result; |
269 | return result; |
267 | } |
270 | } |
268 | 271 | ||
269 | void startAnalogConversionCycle(void) { |
272 | void startAnalogConversionCycle(void) { |
270 | analogDataReady = 0; |
273 | analogDataReady = 0; |
271 | 274 | ||
272 | // Stop the sampling. Cycle is over. |
275 | // Stop the sampling. Cycle is over. |
273 | for (uint8_t i = 0; i < 8; i++) { |
276 | for (uint8_t i = 0; i < 8; i++) { |
274 | sensorInputs[i] = 0; |
277 | sensorInputs[i] = 0; |
275 | } |
278 | } |
276 | adState = 0; |
279 | adState = 0; |
277 | adChannel = AD_GYRO_PITCH; |
280 | adChannel = AD_GYRO_PITCH; |
278 | ADMUX = (ADMUX & 0xE0) | adChannel; |
281 | ADMUX = (ADMUX & 0xE0) | adChannel; |
279 | startADC(); |
282 | startADC(); |
280 | } |
283 | } |
281 | 284 | ||
282 | /***************************************************** |
285 | /***************************************************** |
283 | * Interrupt Service Routine for ADC |
286 | * Interrupt Service Routine for ADC |
284 | * Runs at 312.5 kHz or 3.2 �s. When all states are |
287 | * Runs at 312.5 kHz or 3.2 �s. When all states are |
285 | * processed further conversions are stopped. |
288 | * processed further conversions are stopped. |
286 | *****************************************************/ |
289 | *****************************************************/ |
287 | ISR(ADC_vect) { |
290 | ISR(ADC_vect) { |
288 | sensorInputs[adChannel] += ADC; |
291 | sensorInputs[adChannel] += ADC; |
289 | // set up for next state. |
292 | // set up for next state. |
290 | adState++; |
293 | adState++; |
291 | if (adState < sizeof(channelsForStates)) { |
294 | if (adState < sizeof(channelsForStates)) { |
292 | adChannel = pgm_read_byte(&channelsForStates[adState]); |
295 | adChannel = pgm_read_byte(&channelsForStates[adState]); |
293 | // set adc muxer to next adChannel |
296 | // set adc muxer to next adChannel |
294 | ADMUX = (ADMUX & 0xE0) | adChannel; |
297 | ADMUX = (ADMUX & 0xE0) | adChannel; |
295 | // after full cycle stop further interrupts |
298 | // after full cycle stop further interrupts |
296 | startADC(); |
299 | startADC(); |
297 | } else { |
300 | } else { |
298 | ADCycleCount++; |
301 | ADCycleCount++; |
299 | analogDataReady = 1; |
302 | analogDataReady = 1; |
300 | // do not restart ADC converter. |
303 | // do not restart ADC converter. |
301 | } |
304 | } |
302 | } |
305 | } |
303 | 306 | ||
304 | // Experimental gyro shake takeoff detect! |
307 | // Experimental gyro shake takeoff detect! |
305 | uint16_t gyroActivity = 0; |
308 | uint16_t gyroActivity = 0; |
306 | void measureGyroActivityAndUpdateGyro(uint8_t axis, int16_t newValue) { |
309 | void measureGyroActivityAndUpdateGyro(uint8_t axis, int16_t newValue) { |
307 | int16_t tmp = gyro_ATT[axis]; |
310 | int16_t tmp = gyro_ATT[axis]; |
308 | gyro_ATT[axis] = newValue; |
311 | gyro_ATT[axis] = newValue; |
309 | 312 | ||
310 | tmp -= newValue; |
313 | tmp -= newValue; |
311 | tmp = (tmp*tmp) >> 4; |
314 | tmp = (tmp*tmp) >> 4; |
312 | 315 | ||
313 | if (gyroActivity + (uint16_t)tmp < 0x8000) |
316 | if (gyroActivity + (uint16_t)tmp < 0x8000) |
314 | gyroActivity += tmp; |
317 | gyroActivity += tmp; |
315 | } |
318 | } |
316 | 319 | ||
317 | #define GADAMPING 10 |
320 | #define GADAMPING 10 |
318 | void dampenGyroActivity(void) { |
321 | void dampenGyroActivity(void) { |
319 | uint32_t tmp = gyroActivity; |
322 | uint32_t tmp = gyroActivity; |
320 | tmp *= ((1<<GADAMPING)-1); |
323 | tmp *= ((1<<GADAMPING)-1); |
321 | tmp >>= GADAMPING; |
324 | tmp >>= GADAMPING; |
322 | gyroActivity = tmp; |
325 | gyroActivity = tmp; |
323 | } |
326 | } |
324 | 327 | ||
325 | void analog_updateGyros(void) { |
328 | void analog_updateGyros(void) { |
326 | // for various filters... |
329 | // for various filters... |
327 | int16_t tempOffsetGyro[2], tempGyro; |
330 | int16_t tempOffsetGyro[2], tempGyro; |
328 | 331 | ||
329 | debugOut.digital[0] &= ~DEBUG_SENSORLIMIT; |
332 | debugOut.digital[0] &= ~DEBUG_SENSORLIMIT; |
330 | for (uint8_t axis=0; axis<2; axis++) { |
333 | for (uint8_t axis=0; axis<2; axis++) { |
331 | tempGyro = rawGyroValue(axis); |
334 | tempGyro = rawGyroValue(axis); |
332 | /* |
335 | /* |
333 | * Process the gyro data for the PID controller. |
336 | * Process the gyro data for the PID controller. |
334 | */ |
337 | */ |
335 | // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a |
338 | // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a |
336 | // gyro with a wider range, and helps counter saturation at full control. |
339 | // gyro with a wider range, and helps counter saturation at full control. |
337 | 340 | ||
338 | if (staticParams.bitConfig & CFG_GYRO_SATURATION_PREVENTION) { |
341 | if (staticParams.bitConfig & CFG_GYRO_SATURATION_PREVENTION) { |
339 | if (tempGyro < SENSOR_MIN_PITCHROLL) { |
342 | if (tempGyro < SENSOR_MIN_PITCHROLL) { |
340 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
343 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
341 | tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT; |
344 | tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT; |
342 | } else if (tempGyro > SENSOR_MAX_PITCHROLL) { |
345 | } else if (tempGyro > SENSOR_MAX_PITCHROLL) { |
343 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
346 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
344 | tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE + SENSOR_MAX_PITCHROLL; |
347 | tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE + SENSOR_MAX_PITCHROLL; |
345 | } |
348 | } |
346 | } |
349 | } |
347 | 350 | ||
348 | // 2) Apply sign and offset, scale before filtering. |
351 | // 2) Apply sign and offset, scale before filtering. |
349 | tempOffsetGyro[axis] = (tempGyro - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
352 | tempOffsetGyro[axis] = (tempGyro - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
350 | } |
353 | } |
351 | 354 | ||
352 | // 2.1: Transform axes. |
355 | // 2.1: Transform axes. |
353 | rotate(tempOffsetGyro, staticParams.gyroQuadrant, staticParams.imuReversedFlags & IMU_REVERSE_GYRO_PR); |
356 | rotate(tempOffsetGyro, staticParams.gyroQuadrant, staticParams.imuReversedFlags & IMU_REVERSE_GYRO_PR); |
354 | 357 | ||
355 | for (uint8_t axis=0; axis<2; axis++) { |
358 | for (uint8_t axis=0; axis<2; axis++) { |
356 | // 3) Filter. |
359 | // 3) Filter. |
357 | tempOffsetGyro[axis] = (gyro_PID[axis] * (staticParams.gyroPIDFilterConstant - 1) + tempOffsetGyro[axis]) / staticParams.gyroPIDFilterConstant; |
360 | tempOffsetGyro[axis] = (gyro_PID[axis] * (staticParams.gyroPIDFilterConstant - 1) + tempOffsetGyro[axis]) / staticParams.gyroPIDFilterConstant; |
358 | 361 | ||
359 | // 4) Measure noise. |
362 | // 4) Measure noise. |
360 | measureNoise(tempOffsetGyro[axis], &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING); |
363 | measureNoise(tempOffsetGyro[axis], &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING); |
361 | 364 | ||
362 | // 5) Differential measurement. |
365 | // 5) Differential measurement. |
363 | gyroD[axis] = (gyroD[axis] * (staticParams.gyroDFilterConstant - 1) + (tempOffsetGyro[axis] - gyro_PID[axis])) / staticParams.gyroDFilterConstant; |
366 | // gyroD[axis] = (gyroD[axis] * (staticParams.gyroDFilterConstant - 1) + (tempOffsetGyro[axis] - gyro_PID[axis])) / staticParams.gyroDFilterConstant; |
- | 367 | int16_t diff = tempOffsetGyro[axis] - gyro_PID[axis]; |
|
- | 368 | gyroD[axis] -= gyroDWindow[axis][gyroDWindowIdx]; |
|
- | 369 | gyroD[axis] += diff; |
|
- | 370 | gyroDWindow[axis][gyroDWindowIdx] = diff; |
|
364 | 371 | ||
365 | // 6) Done. |
372 | // 6) Done. |
366 | gyro_PID[axis] = tempOffsetGyro[axis]; |
373 | gyro_PID[axis] = tempOffsetGyro[axis]; |
367 | 374 | ||
368 | // Prepare tempOffsetGyro for next calculation below... |
375 | // Prepare tempOffsetGyro for next calculation below... |
369 | tempOffsetGyro[axis] = (rawGyroValue(axis) - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
376 | tempOffsetGyro[axis] = (rawGyroValue(axis) - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
370 | } |
377 | } |
371 | 378 | ||
- | 379 | if (gyroDWindowIdx >= GYRO_D_WINDOW_LENGTH) { |
|
- | 380 | gyroDWindowIdx = 0; |
|
- | 381 | } |
|
- | 382 | ||
372 | /* |
383 | /* |
373 | * Now process the data for attitude angles. |
384 | * Now process the data for attitude angles. |
374 | */ |
385 | */ |
375 | rotate(tempOffsetGyro, staticParams.gyroQuadrant, staticParams.imuReversedFlags & IMU_REVERSE_GYRO_PR); |
386 | rotate(tempOffsetGyro, staticParams.gyroQuadrant, staticParams.imuReversedFlags & IMU_REVERSE_GYRO_PR); |
376 | 387 | ||
377 | measureGyroActivityAndUpdateGyro(0, tempOffsetGyro[PITCH]); |
388 | measureGyroActivityAndUpdateGyro(0, tempOffsetGyro[PITCH]); |
378 | measureGyroActivityAndUpdateGyro(1, tempOffsetGyro[ROLL]); |
389 | measureGyroActivityAndUpdateGyro(1, tempOffsetGyro[ROLL]); |
379 | dampenGyroActivity(); |
390 | dampenGyroActivity(); |
380 | 391 | ||
381 | // Yaw gyro. |
392 | // Yaw gyro. |
382 | if (staticParams.imuReversedFlags & IMU_REVERSE_GYRO_YAW) |
393 | if (staticParams.imuReversedFlags & IMU_REVERSE_GYRO_YAW) |
383 | yawGyro = gyroOffset.offsets[YAW] - sensorInputs[AD_GYRO_YAW]; |
394 | yawGyro = gyroOffset.offsets[YAW] - sensorInputs[AD_GYRO_YAW]; |
384 | else |
395 | else |
385 | yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset.offsets[YAW]; |
396 | yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset.offsets[YAW]; |
386 | } |
397 | } |
387 | 398 | ||
388 | void analog_updateAccelerometers(void) { |
399 | void analog_updateAccelerometers(void) { |
389 | // Pitch and roll axis accelerations. |
400 | // Pitch and roll axis accelerations. |
390 | for (uint8_t axis=0; axis<2; axis++) { |
401 | for (uint8_t axis=0; axis<2; axis++) { |
391 | acc[axis] = rawAccValue(axis) - accOffset.offsets[axis]; |
402 | acc[axis] = rawAccValue(axis) - accOffset.offsets[axis]; |
392 | } |
403 | } |
393 | 404 | ||
394 | rotate(acc, staticParams.accQuadrant, staticParams.imuReversedFlags & IMU_REVERSE_ACC_XY); |
405 | rotate(acc, staticParams.accQuadrant, staticParams.imuReversedFlags & IMU_REVERSE_ACC_XY); |
395 | for(uint8_t axis=0; axis<3; axis++) { |
406 | for(uint8_t axis=0; axis<3; axis++) { |
396 | filteredAcc[axis] = (filteredAcc[axis] * (staticParams.accFilterConstant - 1) + acc[axis]) / staticParams.accFilterConstant; |
407 | filteredAcc[axis] = (filteredAcc[axis] * (staticParams.accFilterConstant - 1) + acc[axis]) / staticParams.accFilterConstant; |
397 | measureNoise(acc[axis], &accNoisePeak[axis], 1); |
408 | measureNoise(acc[axis], &accNoisePeak[axis], 1); |
398 | } |
409 | } |
399 | 410 | ||
400 | // Z acc. |
411 | // Z acc. |
401 | if (staticParams.imuReversedFlags & 8) |
412 | if (staticParams.imuReversedFlags & 8) |
402 | acc[Z] = accOffset.offsets[Z] - sensorInputs[AD_ACC_Z]; |
413 | acc[Z] = accOffset.offsets[Z] - sensorInputs[AD_ACC_Z]; |
403 | else |
414 | else |
404 | acc[Z] = sensorInputs[AD_ACC_Z] - accOffset.offsets[Z]; |
415 | acc[Z] = sensorInputs[AD_ACC_Z] - accOffset.offsets[Z]; |
405 | 416 | ||
406 | debugOut.analog[29] = acc[Z]; |
417 | debugOut.analog[29] = acc[Z]; |
407 | } |
418 | } |
408 | 419 | ||
409 | void analog_updateAirPressure(void) { |
420 | void analog_updateAirPressure(void) { |
410 | static uint16_t pressureAutorangingWait = 25; |
421 | static uint16_t pressureAutorangingWait = 25; |
411 | uint16_t rawAirPressure; |
422 | uint16_t rawAirPressure; |
412 | int16_t newrange; |
423 | int16_t newrange; |
413 | // air pressure |
424 | // air pressure |
414 | if (pressureAutorangingWait) { |
425 | if (pressureAutorangingWait) { |
415 | //A range switch was done recently. Wait for steadying. |
426 | //A range switch was done recently. Wait for steadying. |
416 | pressureAutorangingWait--; |
427 | pressureAutorangingWait--; |
417 | } else { |
428 | } else { |
418 | rawAirPressure = sensorInputs[AD_AIRPRESSURE]; |
429 | rawAirPressure = sensorInputs[AD_AIRPRESSURE]; |
419 | if (rawAirPressure < MIN_RAWPRESSURE) { |
430 | if (rawAirPressure < MIN_RAWPRESSURE) { |
420 | // value is too low, so decrease voltage on the op amp minus input, making the value higher. |
431 | // value is too low, so decrease voltage on the op amp minus input, making the value higher. |
421 | newrange = OCR0A - (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (MAX_RAWPRESSURE - rawAirPressure) / (rangewidth * 2) + 1; |
432 | newrange = OCR0A - (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (MAX_RAWPRESSURE - rawAirPressure) / (rangewidth * 2) + 1; |
422 | if (newrange > MIN_RANGES_EXTRAPOLATION) { |
433 | if (newrange > MIN_RANGES_EXTRAPOLATION) { |
423 | pressureAutorangingWait = (OCR0A - newrange) * AUTORANGE_WAIT_FACTOR; // = OCRA0 - OCRA0 + |
434 | pressureAutorangingWait = (OCR0A - newrange) * AUTORANGE_WAIT_FACTOR; // = OCRA0 - OCRA0 + |
424 | OCR0A = newrange; |
435 | OCR0A = newrange; |
425 | } else { |
436 | } else { |
426 | if (OCR0A) { |
437 | if (OCR0A) { |
427 | OCR0A--; |
438 | OCR0A--; |
428 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
439 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
429 | } |
440 | } |
430 | } |
441 | } |
431 | } else if (rawAirPressure > MAX_RAWPRESSURE) { |
442 | } else if (rawAirPressure > MAX_RAWPRESSURE) { |
432 | // value is too high, so increase voltage on the op amp minus input, making the value lower. |
443 | // value is too high, so increase voltage on the op amp minus input, making the value lower. |
433 | // If near the end, make a limited increase |
444 | // If near the end, make a limited increase |
434 | newrange = OCR0A + (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (rawAirPressure - MIN_RAWPRESSURE) / (rangewidth * 2) - 1; |
445 | newrange = OCR0A + (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (rawAirPressure - MIN_RAWPRESSURE) / (rangewidth * 2) - 1; |
435 | if (newrange < MAX_RANGES_EXTRAPOLATION) { |
446 | if (newrange < MAX_RANGES_EXTRAPOLATION) { |
436 | pressureAutorangingWait = (newrange - OCR0A) * AUTORANGE_WAIT_FACTOR; |
447 | pressureAutorangingWait = (newrange - OCR0A) * AUTORANGE_WAIT_FACTOR; |
437 | OCR0A = newrange; |
448 | OCR0A = newrange; |
438 | } else { |
449 | } else { |
439 | if (OCR0A < 254) { |
450 | if (OCR0A < 254) { |
440 | OCR0A++; |
451 | OCR0A++; |
441 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
452 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
442 | } |
453 | } |
443 | } |
454 | } |
444 | } |
455 | } |
445 | 456 | ||
446 | // Even if the sample is off-range, use it. |
457 | // Even if the sample is off-range, use it. |
447 | simpleAirPressure = getSimplePressure(rawAirPressure); |
458 | simpleAirPressure = getSimplePressure(rawAirPressure); |
448 | debugOut.analog[6] = rawAirPressure; |
459 | debugOut.analog[6] = rawAirPressure; |
449 | debugOut.analog[7] = simpleAirPressure; |
460 | debugOut.analog[7] = simpleAirPressure; |
450 | 461 | ||
451 | if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) { |
462 | if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) { |
452 | // Danger: pressure near lower end of range. If the measurement saturates, the |
463 | // Danger: pressure near lower end of range. If the measurement saturates, the |
453 | // copter may climb uncontrolledly... Simulate a drastic reduction in pressure. |
464 | // copter may climb uncontrolledly... Simulate a drastic reduction in pressure. |
454 | debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
465 | debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
455 | airPressureSum += (int16_t) MIN_RANGES_EXTRAPOLATION * rangewidth |
466 | airPressureSum += (int16_t) MIN_RANGES_EXTRAPOLATION * rangewidth |
456 | + (simpleAirPressure - (int16_t) MIN_RANGES_EXTRAPOLATION |
467 | + (simpleAirPressure - (int16_t) MIN_RANGES_EXTRAPOLATION |
457 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
468 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
458 | } else if (simpleAirPressure > MAX_RANGES_EXTRAPOLATION * rangewidth) { |
469 | } else if (simpleAirPressure > MAX_RANGES_EXTRAPOLATION * rangewidth) { |
459 | // Danger: pressure near upper end of range. If the measurement saturates, the |
470 | // Danger: pressure near upper end of range. If the measurement saturates, the |
460 | // copter may descend uncontrolledly... Simulate a drastic increase in pressure. |
471 | // copter may descend uncontrolledly... Simulate a drastic increase in pressure. |
461 | debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
472 | debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
462 | airPressureSum += (int16_t) MAX_RANGES_EXTRAPOLATION * rangewidth |
473 | airPressureSum += (int16_t) MAX_RANGES_EXTRAPOLATION * rangewidth |
463 | + (simpleAirPressure - (int16_t) MAX_RANGES_EXTRAPOLATION |
474 | + (simpleAirPressure - (int16_t) MAX_RANGES_EXTRAPOLATION |
464 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
475 | * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
465 | } else { |
476 | } else { |
466 | // normal case. |
477 | // normal case. |
467 | // If AIRPRESSURE_OVERSAMPLING is an odd number we only want to add half the double sample. |
478 | // If AIRPRESSURE_OVERSAMPLING is an odd number we only want to add half the double sample. |
468 | // The 2 cases above (end of range) are ignored for this. |
479 | // The 2 cases above (end of range) are ignored for this. |
469 | debugOut.digital[1] &= ~DEBUG_SENSORLIMIT; |
480 | debugOut.digital[1] &= ~DEBUG_SENSORLIMIT; |
470 | airPressureSum += simpleAirPressure; |
481 | airPressureSum += simpleAirPressure; |
471 | } |
482 | } |
472 | 483 | ||
473 | // 2 samples were added. |
484 | // 2 samples were added. |
474 | pressureMeasurementCount += 2; |
485 | pressureMeasurementCount += 2; |
475 | // Assumption here: AIRPRESSURE_OVERSAMPLING is even (well we all know it's 14 haha...) |
486 | // Assumption here: AIRPRESSURE_OVERSAMPLING is even (well we all know it's 14 haha...) |
476 | if (pressureMeasurementCount == AIRPRESSURE_OVERSAMPLING) { |
487 | if (pressureMeasurementCount == AIRPRESSURE_OVERSAMPLING) { |
477 | 488 | ||
478 | // The best oversampling count is 14.5. We add a quarter of the double ADC value to get the final half. |
489 | // The best oversampling count is 14.5. We add a quarter of the double ADC value to get the final half. |
479 | airPressureSum += simpleAirPressure >> 2; |
490 | airPressureSum += simpleAirPressure >> 2; |
480 | 491 | ||
481 | uint32_t lastFilteredAirPressure = filteredAirPressure; |
492 | uint32_t lastFilteredAirPressure = filteredAirPressure; |
482 | 493 | ||
483 | if (!staticParams.airpressureWindowLength) { |
494 | if (!staticParams.airpressureWindowLength) { |
484 | filteredAirPressure = (filteredAirPressure * (staticParams.airpressureFilterConstant - 1) |
495 | filteredAirPressure = (filteredAirPressure * (staticParams.airpressureFilterConstant - 1) |
485 | + airPressureSum + staticParams.airpressureFilterConstant / 2) / staticParams.airpressureFilterConstant; |
496 | + airPressureSum + staticParams.airpressureFilterConstant / 2) / staticParams.airpressureFilterConstant; |
486 | } else { |
497 | } else { |
487 | // use windowed. |
498 | // use windowed. |
488 | windowedAirPressure += simpleAirPressure; |
499 | windowedAirPressure += simpleAirPressure; |
489 | windowedAirPressure -= airPressureWindow[windowPtr]; |
500 | windowedAirPressure -= airPressureWindow[windowPtr]; |
490 | airPressureWindow[windowPtr++] = simpleAirPressure; |
501 | airPressureWindow[windowPtr++] = simpleAirPressure; |
491 | if (windowPtr >= staticParams.airpressureWindowLength) windowPtr = 0; |
502 | if (windowPtr >= staticParams.airpressureWindowLength) windowPtr = 0; |
492 | filteredAirPressure = windowedAirPressure / staticParams.airpressureWindowLength; |
503 | filteredAirPressure = windowedAirPressure / staticParams.airpressureWindowLength; |
493 | } |
504 | } |
- | 505 | ||
494 | 506 | // positive diff of pressure |
|
- | 507 | int16_t diff = filteredAirPressure - lastFilteredAirPressure; |
|
- | 508 | // is a negative diff of height. |
|
- | 509 | dHeight -= diff; |
|
- | 510 | // remove old sample (fifo) from window. |
|
- | 511 | dHeight += dAirPressureWindow[dWindowPtr]; |
|
495 | dAirPressureWindow[dWindowPtr++] = (int16_t)(filteredAirPressure - lastFilteredAirPressure); |
512 | dAirPressureWindow[dWindowPtr++] = diff; |
496 | if (dWindowPtr >= staticParams.airpressureDWindowLength) dWindowPtr = 0; |
- | |
497 | 513 | if (dWindowPtr >= staticParams.airpressureDWindowLength) dWindowPtr = 0; |
|
498 | pressureMeasurementCount = airPressureSum = 0; |
514 | pressureMeasurementCount = airPressureSum = 0; |
499 | } |
515 | } |
500 | } |
516 | } |
501 | } |
517 | } |
502 | 518 | ||
503 | void analog_updateBatteryVoltage(void) { |
519 | void analog_updateBatteryVoltage(void) { |
504 | // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v). |
520 | // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v). |
505 | // This is divided by 3 --> 10.34 counts per volt. |
521 | // This is divided by 3 --> 10.34 counts per volt. |
506 | UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
522 | UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
507 | } |
523 | } |
508 | 524 | ||
509 | void analog_update(void) { |
525 | void analog_update(void) { |
510 | analog_updateGyros(); |
526 | analog_updateGyros(); |
511 | analog_updateAccelerometers(); |
527 | analog_updateAccelerometers(); |
512 | analog_updateAirPressure(); |
528 | analog_updateAirPressure(); |
513 | analog_updateBatteryVoltage(); |
529 | analog_updateBatteryVoltage(); |
514 | #ifdef USE_MK3MAG |
530 | #ifdef USE_MK3MAG |
515 | magneticHeading = volatileMagneticHeading; |
531 | magneticHeading = volatileMagneticHeading; |
516 | #endif |
532 | #endif |
517 | } |
533 | } |
518 | 534 | ||
519 | void analog_setNeutral() { |
535 | void analog_setNeutral() { |
520 | gyro_init(); |
536 | gyro_init(); |
521 | 537 | ||
522 | if (gyroOffset_readFromEEProm()) { |
538 | if (gyroOffset_readFromEEProm()) { |
523 | printf("gyro offsets invalid%s",recal); |
539 | printf("gyro offsets invalid%s",recal); |
524 | gyroOffset.offsets[PITCH] = gyroOffset.offsets[ROLL] = 512 * GYRO_OVERSAMPLING_PITCHROLL; |
540 | gyroOffset.offsets[PITCH] = gyroOffset.offsets[ROLL] = 512 * GYRO_OVERSAMPLING_PITCHROLL; |
525 | gyroOffset.offsets[YAW] = 512 * GYRO_OVERSAMPLING_YAW; |
541 | gyroOffset.offsets[YAW] = 512 * GYRO_OVERSAMPLING_YAW; |
526 | } |
542 | } |
527 | 543 | ||
528 | if (accOffset_readFromEEProm()) { |
544 | if (accOffset_readFromEEProm()) { |
529 | printf("acc. meter offsets invalid%s",recal); |
545 | printf("acc. meter offsets invalid%s",recal); |
530 | accOffset.offsets[PITCH] = accOffset.offsets[ROLL] = 512 * ACC_OVERSAMPLING_XY; |
546 | accOffset.offsets[PITCH] = accOffset.offsets[ROLL] = 512 * ACC_OVERSAMPLING_XY; |
531 | accOffset.offsets[Z] = 717 * ACC_OVERSAMPLING_Z; |
547 | accOffset.offsets[Z] = 717 * ACC_OVERSAMPLING_Z; |
532 | } |
548 | } |
533 | 549 | ||
534 | // Noise is relative to offset. So, reset noise measurements when changing offsets. |
550 | // Noise is relative to offset. So, reset noise measurements when changing offsets. |
- | 551 | for (uint8_t i=PITCH; i<=ROLL; i++) { |
|
535 | gyroNoisePeak[PITCH] = gyroNoisePeak[ROLL] = 0; |
552 | gyroNoisePeak[i] = 0; |
536 | accNoisePeak[PITCH] = accNoisePeak[ROLL] = 0; |
553 | accNoisePeak[i] = 0; |
- | 554 | gyroD[i] = 0; |
|
- | 555 | for (uint8_t j=0; j<GYRO_D_WINDOW_LENGTH; j++) { |
|
- | 556 | gyroDWindow[i][j] = 0; |
|
- | 557 | } |
|
537 | 558 | } |
|
538 | // Setting offset values has an influence in the analog.c ISR |
559 | // Setting offset values has an influence in the analog.c ISR |
539 | // Therefore run measurement for 100ms to achive stable readings |
560 | // Therefore run measurement for 100ms to achive stable readings |
540 | delay_ms_with_adc_measurement(100, 0); |
561 | delay_ms_with_adc_measurement(100, 0); |
541 | 562 | ||
542 | gyroActivity = 0; |
563 | gyroActivity = 0; |
543 | } |
564 | } |
544 | 565 | ||
545 | void analog_calibrateGyros(void) { |
566 | void analog_calibrateGyros(void) { |
546 | #define GYRO_OFFSET_CYCLES 32 |
567 | #define GYRO_OFFSET_CYCLES 32 |
547 | uint8_t i, axis; |
568 | uint8_t i, axis; |
548 | int32_t offsets[3] = { 0, 0, 0 }; |
569 | int32_t offsets[3] = { 0, 0, 0 }; |
549 | gyro_calibrate(); |
570 | gyro_calibrate(); |
550 | 571 | ||
551 | // determine gyro bias by averaging (requires that the copter does not rotate around any axis!) |
572 | // determine gyro bias by averaging (requires that the copter does not rotate around any axis!) |
552 | for (i = 0; i < GYRO_OFFSET_CYCLES; i++) { |
573 | for (i = 0; i < GYRO_OFFSET_CYCLES; i++) { |
553 | delay_ms_with_adc_measurement(10, 1); |
574 | delay_ms_with_adc_measurement(10, 1); |
554 | for (axis = PITCH; axis <= YAW; axis++) { |
575 | for (axis = PITCH; axis <= YAW; axis++) { |
555 | offsets[axis] += rawGyroValue(axis); |
576 | offsets[axis] += rawGyroValue(axis); |
556 | } |
577 | } |
557 | } |
578 | } |
558 | 579 | ||
559 | for (axis = PITCH; axis <= YAW; axis++) { |
580 | for (axis = PITCH; axis <= YAW; axis++) { |
560 | gyroOffset.offsets[axis] = (offsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
581 | gyroOffset.offsets[axis] = (offsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
561 | 582 | ||
562 | int16_t min = (512-200) * (axis==YAW) ? GYRO_OVERSAMPLING_YAW : GYRO_OVERSAMPLING_PITCHROLL; |
583 | int16_t min = (512-200) * (axis==YAW) ? GYRO_OVERSAMPLING_YAW : GYRO_OVERSAMPLING_PITCHROLL; |
563 | int16_t max = (512+200) * (axis==YAW) ? GYRO_OVERSAMPLING_YAW : GYRO_OVERSAMPLING_PITCHROLL; |
584 | int16_t max = (512+200) * (axis==YAW) ? GYRO_OVERSAMPLING_YAW : GYRO_OVERSAMPLING_PITCHROLL; |
564 | if(gyroOffset.offsets[axis] < min || gyroOffset.offsets[axis] > max) |
585 | if(gyroOffset.offsets[axis] < min || gyroOffset.offsets[axis] > max) |
565 | versionInfo.hardwareErrors[0] |= FC_ERROR0_GYRO_PITCH << axis; |
586 | versionInfo.hardwareErrors[0] |= FC_ERROR0_GYRO_PITCH << axis; |
566 | } |
587 | } |
567 | 588 | ||
568 | gyroOffset_writeToEEProm(); |
589 | gyroOffset_writeToEEProm(); |
569 | startAnalogConversionCycle(); |
590 | startAnalogConversionCycle(); |
570 | } |
591 | } |
571 | 592 | ||
572 | /* |
593 | /* |
573 | * Find acc. offsets for a neutral reading, and write them to EEPROM. |
594 | * Find acc. offsets for a neutral reading, and write them to EEPROM. |
574 | * Does not (!} update the local variables. This must be done with a |
595 | * Does not (!} update the local variables. This must be done with a |
575 | * call to analog_calibrate() - this always (?) is done by the caller |
596 | * call to analog_calibrate() - this always (?) is done by the caller |
576 | * anyway. There would be nothing wrong with updating the variables |
597 | * anyway. There would be nothing wrong with updating the variables |
577 | * directly from here, though. |
598 | * directly from here, though. |
578 | */ |
599 | */ |
579 | void analog_calibrateAcc(void) { |
600 | void analog_calibrateAcc(void) { |
580 | #define ACC_OFFSET_CYCLES 32 |
601 | #define ACC_OFFSET_CYCLES 32 |
581 | uint8_t i, axis; |
602 | uint8_t i, axis; |
582 | int32_t offsets[3] = { 0, 0, 0 }; |
603 | int32_t offsets[3] = { 0, 0, 0 }; |
583 | 604 | ||
584 | for (i = 0; i < ACC_OFFSET_CYCLES; i++) { |
605 | for (i = 0; i < ACC_OFFSET_CYCLES; i++) { |
585 | delay_ms_with_adc_measurement(10, 1); |
606 | delay_ms_with_adc_measurement(10, 1); |
586 | for (axis = PITCH; axis <= YAW; axis++) { |
607 | for (axis = PITCH; axis <= YAW; axis++) { |
587 | offsets[axis] += rawAccValue(axis); |
608 | offsets[axis] += rawAccValue(axis); |
588 | } |
609 | } |
589 | } |
610 | } |
590 | 611 | ||
591 | for (axis = PITCH; axis <= YAW; axis++) { |
612 | for (axis = PITCH; axis <= YAW; axis++) { |
592 | accOffset.offsets[axis] = (offsets[axis] + ACC_OFFSET_CYCLES / 2) / ACC_OFFSET_CYCLES; |
613 | accOffset.offsets[axis] = (offsets[axis] + ACC_OFFSET_CYCLES / 2) / ACC_OFFSET_CYCLES; |
593 | int16_t min,max; |
614 | int16_t min,max; |
594 | if (axis==Z) { |
615 | if (axis==Z) { |
595 | if (staticParams.imuReversedFlags & IMU_REVERSE_ACC_Z) { |
616 | if (staticParams.imuReversedFlags & IMU_REVERSE_ACC_Z) { |
596 | // TODO: This assumes a sensitivity of +/- 2g. |
617 | // TODO: This assumes a sensitivity of +/- 2g. |
597 | min = (256-200) * ACC_OVERSAMPLING_Z; |
618 | min = (256-200) * ACC_OVERSAMPLING_Z; |
598 | max = (256+200) * ACC_OVERSAMPLING_Z; |
619 | max = (256+200) * ACC_OVERSAMPLING_Z; |
599 | } else { |
620 | } else { |
600 | // TODO: This assumes a sensitivity of +/- 2g. |
621 | // TODO: This assumes a sensitivity of +/- 2g. |
601 | min = (768-200) * ACC_OVERSAMPLING_Z; |
622 | min = (768-200) * ACC_OVERSAMPLING_Z; |
602 | max = (768+200) * ACC_OVERSAMPLING_Z; |
623 | max = (768+200) * ACC_OVERSAMPLING_Z; |
603 | } |
624 | } |
604 | } else { |
625 | } else { |
605 | min = (512-200) * ACC_OVERSAMPLING_XY; |
626 | min = (512-200) * ACC_OVERSAMPLING_XY; |
606 | max = (512+200) * ACC_OVERSAMPLING_XY; |
627 | max = (512+200) * ACC_OVERSAMPLING_XY; |
607 | } |
628 | } |
608 | if(gyroOffset.offsets[axis] < min || gyroOffset.offsets[axis] > max) { |
629 | if(gyroOffset.offsets[axis] < min || gyroOffset.offsets[axis] > max) { |
609 | versionInfo.hardwareErrors[0] |= FC_ERROR0_ACC_X << axis; |
630 | versionInfo.hardwareErrors[0] |= FC_ERROR0_ACC_X << axis; |
610 | } |
631 | } |
611 | } |
632 | } |
612 | 633 | ||
613 | accOffset_writeToEEProm(); |
634 | accOffset_writeToEEProm(); |
614 | startAnalogConversionCycle(); |
635 | startAnalogConversionCycle(); |
615 | } |
636 | } |
616 | 637 | ||
617 | void analog_setGround() { |
638 | void analog_setGround() { |
618 | groundPressure = filteredAirPressure; |
639 | groundPressure = filteredAirPressure; |
619 | } |
640 | } |
620 | 641 | ||
621 | int32_t analog_getHeight(void) { |
642 | int32_t analog_getHeight(void) { |
622 | return groundPressure - filteredAirPressure; |
643 | return groundPressure - filteredAirPressure; |
623 | } |
644 | } |
624 | 645 | ||
625 | int16_t analog_getDHeight(void) { |
646 | int16_t analog_getDHeight(void) { |
626 | int16_t result = 0; |
- | |
627 | for (int i=0; i<staticParams.airpressureDWindowLength; i++) { |
- | |
628 | result -= dAirPressureWindow[i]; // minus pressure is plus height. |
- | |
629 | } |
- | |
630 | - | ||
631 | debugOut.analog[30] = result; |
- | |
632 | // dHeight = -dPressure, so here it is the old pressure minus the current, not opposite. |
- | |
633 | return result; |
647 | return dHeight; |
634 | } |
648 | } |
635 | 649 |